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Removed use of GTSAM_MAGIC_KEY for constructing Symbols from strings

release/4.3a0
Richard Roberts 2012-02-22 23:38:09 +00:00
parent 565185da02
commit 1d0aaacbd6
32 changed files with 33 additions and 150 deletions
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3
examples/vSLAMexample/vISAMexample.cpp
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@ -20,9 +20,6 @@
#include <boost/foreach.hpp>
using namespace boost;
// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/NonlinearOptimizer.h>
#include <gtsam/slam/visualSLAM.h>

3
examples/vSLAMexample/vSFMexample.cpp
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@ -19,9 +19,6 @@
#include <boost/shared_ptr.hpp>
using namespace boost;
// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/NonlinearOptimizer.h>
#include <gtsam/slam/visualSLAM.h>

3
gtsam/inference/tests/testFactorGraph.cpp
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@ -25,9 +25,6 @@ using namespace boost::assign;
#include <CppUnitLite/TestHarness.h>
// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/inference/SymbolicFactorGraph.h>
using namespace std;

3
gtsam/inference/tests/testISAM.cpp
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@ -21,9 +21,6 @@ using namespace boost::assign;
#include <CppUnitLite/TestHarness.h>
// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/inference/BayesNet.h>
#include <gtsam/inference/IndexConditional.h>
#include <gtsam/inference/SymbolicFactorGraph.h>

34
gtsam/nonlinear/Symbol.h
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@ -23,14 +23,9 @@
#include <boost/mpl/char.hpp>
#include <boost/format.hpp>
#include <boost/serialization/nvp.hpp>
#ifdef GTSAM_MAGIC_KEY
#include <boost/lexical_cast.hpp>
#endif
#include <gtsam/nonlinear/Key.h>
#define ALPHA '\224'
namespace gtsam {
/**
@ -60,35 +55,6 @@ public:
c_(c), j_(j) {
}
/** "Magic" key casting constructor from string */
#ifdef GTSAM_MAGIC_KEY
Symbol(const std::string& str) {
if(str.length() < 1)
throw std::invalid_argument("Cannot parse string key '" + str + "'");
else {
const char *c_str = str.c_str();
c_ = c_str[0];
if(str.length() > 1)
j_ = boost::lexical_cast<size_t>(c_str+1);
else
j_ = 0;
}
}
Symbol(const char *c_str) {
std::string str(c_str);
if(str.length() < 1)
throw std::invalid_argument("Cannot parse string key '" + str + "'");
else {
c_ = c_str[0];
if(str.length() > 1)
j_ = boost::lexical_cast<size_t>(c_str+1);
else
j_ = 0;
}
}
#endif
/** Constructor that decodes an integer Key */
Symbol(Key key) {
const size_t keyBytes = sizeof(Key);

4
gtsam/nonlinear/tests/testValues.cpp
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@ -20,8 +20,6 @@
#include <boost/assign/std/list.hpp> // for operator +=
using namespace boost::assign;
#define GTSAM_MAGIC_KEY
#include <gtsam/base/Testable.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/LieVector.h>
@ -33,7 +31,7 @@ using namespace gtsam;
using namespace std;
static double inf = std::numeric_limits<double>::infinity();
Key key1(Symbol("v1")), key2(Symbol("v2")), key3(Symbol("v3")), key4(Symbol("v4"));
Key key1(Symbol('v',1)), key2(Symbol('v',2)), key3(Symbol('v',3)), key4(Symbol('v',4));
/* ************************************************************************* */
TEST( Values, equals1 )

26
gtsam/slam/smallExample.cpp
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@ -24,9 +24,6 @@
using namespace std;
// Magically casts strings like Symbol("x3") to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/base/Matrix.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/slam/smallExample.h>
@ -52,6 +49,9 @@ namespace example {
static const Index _l1_=0, _x1_=1, _x2_=2;
static const Index _x_=0, _y_=1, _z_=2;
Key kx(size_t i) { return Symbol('x',i); }
Key kl(size_t i) { return Symbol('l',i); }
/* ************************************************************************* */
boost::shared_ptr<const Graph> sharedNonlinearFactorGraph() {
// Create
@ -121,18 +121,18 @@ namespace example {
/* ************************************************************************* */
VectorValues createCorrectDelta(const Ordering& ordering) {
VectorValues c(vector<size_t>(3,2));
c[ordering[Symbol(Symbol("l1"))]] = Vector_(2, -0.1, 0.1);
c[ordering[Symbol("x1")]] = Vector_(2, -0.1, -0.1);
c[ordering[Symbol("x2")]] = Vector_(2, 0.1, -0.2);
c[ordering[kl(1)]] = Vector_(2, -0.1, 0.1);
c[ordering[kx(1)]] = Vector_(2, -0.1, -0.1);
c[ordering[kx(2)]] = Vector_(2, 0.1, -0.2);
return c;
}
/* ************************************************************************* */
VectorValues createZeroDelta(const Ordering& ordering) {
VectorValues c(vector<size_t>(3,2));
c[ordering[Symbol(Symbol("l1"))]] = zero(2);
c[ordering[Symbol("x1")]] = zero(2);
c[ordering[Symbol("x2")]] = zero(2);
c[ordering[kl(1)]] = zero(2);
c[ordering[kx(1)]] = zero(2);
c[ordering[kx(2)]] = zero(2);
return c;
}
@ -144,16 +144,16 @@ namespace example {
SharedDiagonal unit2 = noiseModel::Unit::Create(2);
// linearized prior on x1: c[_x1_]+x1=0 i.e. x1=-c[_x1_]
fg.add(ordering[Symbol("x1")], 10*eye(2), -1.0*ones(2), unit2);
fg.add(ordering[kx(1)], 10*eye(2), -1.0*ones(2), unit2);
// odometry between x1 and x2: x2-x1=[0.2;-0.1]
fg.add(ordering[Symbol("x1")], -10*eye(2),ordering[Symbol("x2")], 10*eye(2), Vector_(2, 2.0, -1.0), unit2);
fg.add(ordering[kx(1)], -10*eye(2),ordering[kx(2)], 10*eye(2), Vector_(2, 2.0, -1.0), unit2);
// measurement between x1 and l1: l1-x1=[0.0;0.2]
fg.add(ordering[Symbol("x1")], -5*eye(2), ordering[Symbol("l1")], 5*eye(2), Vector_(2, 0.0, 1.0), unit2);
fg.add(ordering[kx(1)], -5*eye(2), ordering[kl(1)], 5*eye(2), Vector_(2, 0.0, 1.0), unit2);
// measurement between x2 and l1: l1-x2=[-0.2;0.3]
fg.add(ordering[Symbol("x2")], -5*eye(2), ordering[Symbol("l1")], 5*eye(2), Vector_(2, -1.0, 1.5), unit2);
fg.add(ordering[kx(2)], -5*eye(2), ordering[kl(1)], 5*eye(2), Vector_(2, -1.0, 1.5), unit2);
return *fg.dynamicCastFactors<FactorGraph<JacobianFactor> >();
}

11
gtsam/slam/tests/testGeneralSFMFactor.cpp
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@ -12,9 +12,6 @@
#include <CppUnitLite/TestHarness.h>
using namespace boost;
// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/base/Testable.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/PinholeCamera.h>
@ -74,7 +71,7 @@ TEST( GeneralSFMFactor, equals )
{
// Create two identical factors and make sure they're equal
Vector z = Vector_(2,323.,240.);
const Symbol cameraFrameNumber="x1", landmarkNumber="l1";
const Symbol cameraFrameNumber('x',1), landmarkNumber('l',1);
const SharedNoiseModel sigma(noiseModel::Unit::Create(1));
boost::shared_ptr<Projection>
factor1(new Projection(z, sigma, cameraFrameNumber, landmarkNumber));
@ -89,14 +86,14 @@ TEST( GeneralSFMFactor, equals )
TEST( GeneralSFMFactor, error ) {
Point2 z(3.,0.);
const SharedNoiseModel sigma(noiseModel::Unit::Create(1));
boost::shared_ptr<Projection> factor(new Projection(z, sigma, Symbol("x1"), Symbol("l1")));
boost::shared_ptr<Projection> factor(new Projection(z, sigma, Symbol('x',1), Symbol('l',1)));
// For the following configuration, the factor predicts 320,240
Values values;
Rot3 R;
Point3 t1(0,0,-6);
Pose3 x1(R,t1);
values.insert(Symbol("x1"), GeneralCamera(x1));
Point3 l1; values.insert(Symbol("l1"), l1);
values.insert(Symbol('x',1), GeneralCamera(x1));
Point3 l1; values.insert(Symbol('l',1), l1);
EXPECT(assert_equal(Vector_(2, -3.0, 0.0), factor->unwhitenedError(values)));
}

11
gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp
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@ -12,9 +12,6 @@
#include <CppUnitLite/TestHarness.h>
using namespace boost;
// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/base/Testable.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/PinholeCamera.h>
@ -75,7 +72,7 @@ TEST( GeneralSFMFactor, equals )
{
// Create two identical factors and make sure they're equal
Vector z = Vector_(2,323.,240.);
const Symbol cameraFrameNumber="x1", landmarkNumber="l1";
const Symbol cameraFrameNumber('x',1), landmarkNumber('l',1);
const SharedNoiseModel sigma(noiseModel::Unit::Create(1));
boost::shared_ptr<Projection>
factor1(new Projection(z, sigma, cameraFrameNumber, landmarkNumber));
@ -91,14 +88,14 @@ TEST( GeneralSFMFactor, error ) {
Point2 z(3.,0.);
const SharedNoiseModel sigma(noiseModel::Unit::Create(1));
boost::shared_ptr<Projection>
factor(new Projection(z, sigma, Symbol("x1"), Symbol("l1")));
factor(new Projection(z, sigma, Symbol('x',1), Symbol('l',1)));
// For the following configuration, the factor predicts 320,240
Values values;
Rot3 R;
Point3 t1(0,0,-6);
Pose3 x1(R,t1);
values.insert(Symbol("x1"), GeneralCamera(x1));
Point3 l1; values.insert(Symbol("l1"), l1);
values.insert(Symbol('x',1), GeneralCamera(x1));
Point3 l1; values.insert(Symbol('l',1), l1);
EXPECT(assert_equal(Vector_(2, -3.0, 0.0), factor->unwhitenedError(values)));
}

5
gtsam/slam/tests/testPose2SLAM.cpp
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@ -14,9 +14,6 @@
* @author Frank Dellaert, Viorela Ila
**/
// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/slam/pose2SLAM.h>
#include <gtsam/nonlinear/NonlinearOptimizer.h>
#include <gtsam/inference/FactorGraph.h>
@ -46,7 +43,7 @@ static noiseModel::Gaussian::shared_ptr covariance(
)));
//static noiseModel::Gaussian::shared_ptr I3(noiseModel::Unit::Create(3));
const Key kx0 = Symbol("x0"), kx1 = Symbol("x1"), kx2 = Symbol("x2"), kx3 = Symbol("x3"), kx4 = Symbol("x4"), kx5 = Symbol("x5"), kl1 = Symbol("l1");
const Key kx0 = Symbol('x',0), kx1 = Symbol('x',1), kx2 = Symbol('x',2), kx3 = Symbol('x',3), kx4 = Symbol('x',4), kx5 = Symbol('x',5), kl1 = Symbol('l',1);
/* ************************************************************************* */
// Test constraint, small displacement

5
gtsam/slam/tests/testPose3SLAM.cpp
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@ -28,9 +28,6 @@ using namespace boost::assign;
// TODO: DANGEROUS, create shared pointers
#define GTSAM_MAGIC_GAUSSIAN 6
// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/slam/pose3SLAM.h>
#include <gtsam/slam/PartialPriorFactor.h>
@ -43,7 +40,7 @@ static Matrix covariance = eye(6);
const double tol=1e-5;
const Key kx0 = Symbol("x0"), kx1 = Symbol("x1"), kx2 = Symbol("x2"), kx3 = Symbol("x3"), kx4 = Symbol("x4"), kx5 = Symbol("x5");
const Key kx0 = Symbol('x',0), kx1 = Symbol('x',1), kx2 = Symbol('x',2), kx3 = Symbol('x',3), kx4 = Symbol('x',4), kx5 = Symbol('x',5);
/* ************************************************************************* */
// test optimization with 6 poses arranged in a hexagon and a loop closure

5
gtsam/slam/tests/testProjectionFactor.cpp
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@ -18,9 +18,6 @@
#include <CppUnitLite/TestHarness.h>
// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/slam/visualSLAM.h>
using namespace std;
@ -40,7 +37,7 @@ static Cal3_S2 K(fov,w,h);
static SharedNoiseModel sigma(noiseModel::Unit::Create(1));
static shared_ptrK sK(new Cal3_S2(K));
const Key kx1 = Symbol("x1"), kl1 = Symbol("l1");
const Key kx1 = Symbol('x',1), kl1 = Symbol('l',1);
// make cameras

4
gtsam/slam/tests/testSerializationSLAM.cpp
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@ -16,8 +16,6 @@
* @date Feb 7, 2012
*/
#define GTSAM_MAGIC_KEY
#include <gtsam/linear/GaussianISAM.h>
#include <gtsam/linear/GaussianMultifrontalSolver.h>
#include <gtsam/slam/smallExample.h>
@ -51,7 +49,7 @@ BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal");
TEST (Serialization, smallExample_linear) {
using namespace example;
Ordering ordering; ordering += Symbol("x1"),Symbol("x2"),Symbol("l1");
Ordering ordering; ordering += Symbol('x',1),Symbol('x',2),Symbol('l',1);
GaussianFactorGraph fg = createGaussianFactorGraph(ordering);
EXPECT(equalsObj(ordering));
EXPECT(equalsXML(ordering));

3
gtsam/slam/tests/testVSLAM.cpp
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@ -22,9 +22,6 @@
#include <boost/shared_ptr.hpp>
using namespace boost;
// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/NonlinearOptimizer.h>
#include <gtsam/slam/visualSLAM.h>

12
tests/testBoundingConstraint.cpp
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@ -17,8 +17,6 @@
#include <CppUnitLite/TestHarness.h>
#define GTSAM_MAGIC_KEY
#include <gtsam/slam/simulated2DConstraints.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/NonlinearOptimizer.h>
@ -153,7 +151,7 @@ TEST( testBoundingConstraint, unary_simple_optimization1) {
Point2 start_pt(0.0, 1.0);
shared_graph graph(new Graph());
Symbol x1("x1");
Symbol x1('x',1);
graph->add(iq2D::PoseXInequality(x1, 1.0, true));
graph->add(iq2D::PoseYInequality(x1, 2.0, true));
graph->add(simulated2D::Prior(start_pt, soft_model2, x1));
@ -175,7 +173,7 @@ TEST( testBoundingConstraint, unary_simple_optimization2) {
Point2 start_pt(2.0, 3.0);
shared_graph graph(new Graph());
Symbol x1("x1");
Symbol x1('x',1);
graph->add(iq2D::PoseXInequality(x1, 1.0, false));
graph->add(iq2D::PoseYInequality(x1, 2.0, false));
graph->add(simulated2D::Prior(start_pt, soft_model2, x1));
@ -191,7 +189,7 @@ TEST( testBoundingConstraint, unary_simple_optimization2) {
/* ************************************************************************* */
TEST( testBoundingConstraint, MaxDistance_basics) {
Symbol key1("x1"), key2("x2");
Symbol key1('x',1), key2('x',2);
Point2 pt1, pt2(1.0, 0.0), pt3(2.0, 0.0), pt4(3.0, 0.0);
iq2D::PoseMaxDistConstraint rangeBound(key1, key2, 2.0, mu);
EXPECT_DOUBLES_EQUAL(2.0, rangeBound.threshold(), tol);
@ -233,7 +231,7 @@ TEST( testBoundingConstraint, MaxDistance_basics) {
TEST( testBoundingConstraint, MaxDistance_simple_optimization) {
Point2 pt1, pt2_init(5.0, 0.0), pt2_goal(2.0, 0.0);
Symbol x1("x1"), x2("x2");
Symbol x1('x',1), x2('x',2);
Graph graph;
graph.add(simulated2D::equality_constraints::UnaryEqualityConstraint(pt1, x1));
@ -256,7 +254,7 @@ TEST( testBoundingConstraint, MaxDistance_simple_optimization) {
/* ************************************************************************* */
TEST( testBoundingConstraint, avoid_demo) {
Symbol x1("x1"), x2("x2"), x3("x3"), l1("l1");
Symbol x1('x',1), x2('x',2), x3('x',3), l1('l',1);
double radius = 1.0;
Point2 x1_pt, x2_init(2.0, 0.5), x2_goal(2.0, 1.0), x3_pt(4.0, 0.0), l1_pt(2.0, 0.0);
Point2 odo(2.0, 0.0);

4
tests/testExtendedKalmanFilter.cpp
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@ -16,8 +16,6 @@
#include <CppUnitLite/TestHarness.h>
#define GTSAM_MAGIC_KEY
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/nonlinear/ExtendedKalmanFilter-inl.h>
@ -37,7 +35,7 @@ TEST( ExtendedKalmanFilter, linear ) {
ExtendedKalmanFilter<Point2> ekf(x_initial, P_initial);
// Create the TestKeys for our example
Symbol x0("x0"), x1("x1"), x2("x2"), x3("x3");
Symbol x0('x',0), x1('x',1), x2('x',2), x3('x',3);
// Create the controls and measurement properties for our example
double dt = 1.0;

3
tests/testGaussianBayesNet.cpp
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@ -25,9 +25,6 @@
#include <boost/assign/std/list.hpp> // for operator +=
using namespace boost::assign;
// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/base/Testable.h>
#include <gtsam/inference/BayesNet.h>
#include <gtsam/linear/GaussianBayesNet.h>

5
tests/testGaussianFactor.cpp
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@ -26,9 +26,6 @@ using namespace boost::assign;
#include <CppUnitLite/TestHarness.h>
// Magically casts strings like kx3 to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/base/Matrix.h>
#include <gtsam/base/Testable.h>
#include <gtsam/linear/GaussianConditional.h>
@ -44,7 +41,7 @@ static SharedDiagonal
sigma0_1 = sharedSigma(2,0.1), sigma_02 = sharedSigma(2,0.2),
constraintModel = noiseModel::Constrained::All(2);
const Key kx1 = Symbol("x1"), kx2 = Symbol("x2"), kl1 = Symbol("l1");
const Key kx1 = Symbol('x',1), kx2 = Symbol('x',2), kl1 = Symbol('l',1);
/* ************************************************************************* */
TEST( GaussianFactor, linearFactor )

3
tests/testGaussianFactorGraph.cpp
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@ -28,9 +28,6 @@ using namespace boost::assign;
#include <CppUnitLite/TestHarness.h>
// Magically casts strings like kx(3) to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/base/Matrix.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>

3
tests/testGaussianISAM.cpp
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@ -21,9 +21,6 @@ using namespace boost::assign;
#include <CppUnitLite/TestHarness.h>
// Magically casts strings like kx(3) to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/geometry/Rot2.h>
#include <gtsam/nonlinear/Ordering.h>
#include <gtsam/linear/GaussianBayesNet.h>

2
tests/testGaussianISAM2.cpp
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@ -11,8 +11,6 @@ using namespace boost::assign;
#include <CppUnitLite/TestHarness.h>
#define GTSAM_MAGIC_KEY
#include <gtsam/base/debug.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/nonlinear/Ordering.h>

3
tests/testGaussianJunctionTree.cpp
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@ -25,9 +25,6 @@
#include <boost/assign/std/vector.hpp>
using namespace boost::assign;
// Magically casts strings like kx(3) to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/base/debug.h>
#include <gtsam/base/cholesky.h>
#include <gtsam/inference/BayesTree-inl.h>

2
tests/testGraph.cpp
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@ -23,8 +23,6 @@ using namespace boost::assign;
#include <CppUnitLite/TestHarness.h>
#define GTSAM_MAGIC_KEY
// TODO: DANGEROUS, create shared pointers
#define GTSAM_MAGIC_GAUSSIAN 3

3
tests/testInference.cpp
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@ -17,9 +17,6 @@
#include <CppUnitLite/TestHarness.h>
// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/linear/GaussianSequentialSolver.h>
#include <gtsam/slam/smallExample.h>
#include <gtsam/slam/planarSLAM.h>

3
tests/testNonlinearFactor.cpp
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@ -25,9 +25,6 @@
// TODO: DANGEROUS, create shared pointers
#define GTSAM_MAGIC_GAUSSIAN 2
// Magically casts strings like PoseKey(3) to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/base/Testable.h>
#include <gtsam/base/Matrix.h>
#include <gtsam/base/LieVector.h>

3
tests/testNonlinearFactorGraph.cpp
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@ -27,9 +27,6 @@ using namespace boost::assign;
#include <CppUnitLite/TestHarness.h>
// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/base/Testable.h>
#include <gtsam/base/Matrix.h>
#include <gtsam/slam/smallExample.h>

3
tests/testNonlinearOptimizer.cpp
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@ -26,9 +26,6 @@ using namespace boost::assign;
#include <boost/shared_ptr.hpp>
using namespace boost;
// Magically casts strings like kx(3) to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/base/Matrix.h>
#include <gtsam/slam/smallExample.h>
#include <gtsam/slam/pose2SLAM.h>

3
tests/testSymbolicBayesNet.cpp
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@ -21,9 +21,6 @@ using namespace boost::assign;
#include <CppUnitLite/TestHarness.h>
// Magically casts strings like kx(3) to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/base/Testable.h>
#include <gtsam/slam/smallExample.h>
#include <gtsam/inference/SymbolicFactorGraph.h>

3
tests/testSymbolicFactorGraph.cpp
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@ -20,9 +20,6 @@ using namespace boost::assign;
#include <CppUnitLite/TestHarness.h>
// Magically casts strings like kx(3) to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/slam/smallExample.h>
#include <gtsam/inference/SymbolicFactorGraph.h>
#include <gtsam/inference/BayesNet-inl.h>

3
tests/testTupleValues.cpp
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@ -20,9 +20,6 @@
#include <gtsam/base/TestableAssertions.h>
// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Pose3.h>

3
tests/timeGaussianFactorGraph.cpp
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@ -15,9 +15,6 @@
* @author Frank Dellaert
*/
// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
#define GTSAM_MAGIC_KEY
#include <time.h>
#include <boost/foreach.hpp>
#include <boost/assign/std/list.hpp> // for operator += in Ordering

2
wrap/matlab.h
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@ -40,8 +40,6 @@ using namespace std;
using namespace boost; // not usual, but for conciseness of generated code
// start GTSAM Specifics /////////////////////////////////////////////////
// to make keys be constructed from strings:
#define GTSAM_MAGIC_KEY
// to enable Matrix and Vector constructor for SharedGaussian:
#define GTSAM_MAGIC_GAUSSIAN
// end GTSAM Specifics /////////////////////////////////////////////////